5:10a We also asked for their names,

We (excl.) also asked the elders, “What are your (plur.) names?”
-or-
We also asked them for their names

5:10b so that we could write down the names of their leaders for your information.

We (excl.) wanted to write the names of the men who are their leaders so that you (sing.) would know who they are.
-or-
so that we could send to you a list of their leaders.

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